CN105459898B - A kind of active vehicle rear aids in early warning system - Google Patents

本发明公开了一种主动式车辆后方辅助预警系统，包括中央处理器单元及分别与其连接的车载摄像头单元、雷达传感器、声音报警系统和电子锁控制器，中央处理器单元，根据摄像头发送的视频图像信息以及超声波探测器发送的探测信息对外界危险因素的具体位置进行识别，并发送指令给声音报警系统和电子锁控制器，声音报警系统发出语音报警，电子锁控制器控制车门短暂锁闭。本发明采取主动式预警方式，根据中央处理器电脑，对摄像头采集信息进行判定后主动进行防护行动，同时中央处理单元主动对车辆行为进行干涉，并通过声音报警系统对车内人员进行警示，避免乘客在不理解报警信号表达的意思时做出无意识行为导致预警失效。

The invention discloses an active vehicle rear auxiliary early warning system, which comprises a central processor unit and a vehicle-mounted camera unit, a radar sensor, a sound alarm system and an electronic lock controller respectively connected thereto. The image information and the detection information sent by the ultrasonic detector identify the specific location of the external risk factors, and send instructions to the sound alarm system and the electronic lock controller. The sound alarm system sends out a voice alarm, and the electronic lock controller controls the temporary locking of the door. The present invention adopts an active early warning method, according to the central processing unit computer, after judging the information collected by the camera, the protective action is taken actively, and at the same time, the central processing unit actively interferes with the behavior of the vehicle, and warns the personnel in the vehicle through the sound alarm system to avoid Passengers make unconscious behaviors when they do not understand the meaning of the alarm signal, which leads to the failure of the early warning.

一种主动式车辆后方辅助预警系统An Active Vehicle Rear Auxiliary Early Warning System

技术领域technical field

本发明涉及车辆安全领域，特别涉及一种主动式车辆后方辅助预警系统。The invention relates to the field of vehicle safety, in particular to an active vehicle rear auxiliary early warning system.

背景技术Background technique

随着对汽车安全性能的关注，诸如前向避撞预警系统，车道偏离预警系统等各种驾驶辅助预警系统得到了越来越多的应用，这些预警系统能够在碰撞、或者偏离车道等危险驾驶状况发生之前给予驾驶员相应的警告或者提示信息，从而避免事故的发生。但对于目前的驾驶辅助预警系统而言，其在预警时存在着两方面的问题。其一，这些预警信号大都布置在仪表盘上，这在对仪表盘的必要空间造成负担的同时，还需要驾驶员转移视线对其报警内容进行察看，容易分散驾驶员的注意力，从而造成新的安全隐患。其二，目前常用预警系统的预警信息类似，容易造成驾驶员的误解和混淆，因为驾驶员在驾驶过程中需要根据当前的驾驶环境加工和分析其所处的驾驶状态，这是一种复杂的信息处理过程，对于经验尚浅的驾驶员而言，普通的报警图案以及诸如“滴滴”、“嘟嘟”等预警声不足以让其快速有效的理解当前的危险状况，从而使其无法快速做出正确反应，影响了实际的预警效果。With the attention to car safety performance, various driving assistance warning systems such as forward collision avoidance warning system and lane departure warning system have been applied more and more. Give the driver corresponding warning or prompt information before the situation occurs, so as to avoid the occurrence of accidents. But for the current driving assistance early warning system, there are two problems in the early warning. One, these early warning signals are mostly arranged on the instrument panel, which, while causing a burden on the necessary space of the instrument panel, also requires the driver to divert the line of sight to check its alarm content, which is easy to disperse the driver's attention, thereby causing new problems. security risks. Second, the warning information of the commonly used early warning systems is similar, which is likely to cause misunderstanding and confusion for the driver, because the driver needs to process and analyze the driving state according to the current driving environment during the driving process, which is a complicated method. In the process of information processing, for inexperienced drivers, ordinary alarm patterns and warning sounds such as "didi" and "beep" are not enough for them to quickly and effectively understand the current dangerous situation, so that they cannot quickly To make a correct response has affected the actual early warning effect.

发明内容Contents of the invention

为了克服驾驶员及乘坐人员在停车时对后方观察不足，无意识开门造成对后方来向行人及车辆造成伤害，本发明提供一种主动式车辆后方辅助预警系统，有效防止乘车人员注意力分散、提高预警效果。In order to overcome the lack of observation of the rear when the driver and the passengers are parking, and the unintentional opening of the door will cause harm to the pedestrians and vehicles coming from the rear, the invention provides an active vehicle rear auxiliary early warning system, which can effectively prevent the passengers from being distracted, Improve the effect of early warning.

本发明的技术方案是：Technical scheme of the present invention is:

一种主动式车辆后方辅助预警系统，包括中央处理器单元及分别与其连接的车载摄像头单元、雷达传感器、声音报警系统和电子锁控制器，其中，An active vehicle rear auxiliary early warning system, including a central processing unit and a vehicle-mounted camera unit, a radar sensor, a sound alarm system and an electronic lock controller respectively connected thereto, wherein,

所述的车载摄像头单元包括两个安装于车尾用于感知停车后车后方路况的摄像头，汽车停止后摄像头检测后方来车情况，并将拍摄的视频或图像发送到中央处理器单元；The vehicle-mounted camera unit includes two cameras installed at the rear of the car for sensing the road conditions behind the car after parking. After the car stops, the camera detects the situation of the car coming from behind, and sends the video or image taken to the central processing unit;

所述雷达传感器包括两个安装于车尾用于感知后方异常物体距离的超声波探测器，并将探测信息发送到中央处理器单元；The radar sensor includes two ultrasonic detectors installed at the rear of the vehicle for sensing the distance of abnormal objects behind, and sends the detection information to the central processing unit;

所述中央处理器单元，根据摄像头发送的视频图像信息以及超声波探测器发送的探测信息对外界危险因素的具体位置进行识别，并发送指令给声音报警系统和电子锁控制器；The central processing unit identifies the specific location of the external risk factors according to the video image information sent by the camera and the detection information sent by the ultrasonic detector, and sends instructions to the sound alarm system and the electronic lock controller;

所述声音报警系统，使用车载音响，利用音响扬声器进行信息报警，提醒后方行人及来车，对车内人员进行语音报警；The sound alarm system uses a vehicle-mounted audio system to provide information alarms through audio speakers, reminding pedestrians and incoming vehicles in the rear, and giving voice alarms to people in the vehicle;

所述电子锁控制器接受到报警信号后对报警信号来源方向的车门进行短暂锁闭。After receiving the alarm signal, the electronic lock controller temporarily locks the vehicle door in the direction of the source of the alarm signal.

优选的，所述车载摄像头单元的两个摄像头分别安装于车尾的左右两端，拍摄车后方左右45°角范围内的路况。Preferably, the two cameras of the on-vehicle camera unit are respectively installed at the left and right ends of the rear of the vehicle to capture road conditions within a 45° left and right angle behind the vehicle.

优选的，所述中央处理器单元通过CAN总线分别与声音报警系统和电子锁控制器通信。Preferably, the central processing unit communicates with the sound alarm system and the electronic lock controller respectively through the CAN bus.

优选的，所述中央处理器安置于车辆的中控台内，在车辆趋近于停止时启动。Preferably, the central processing unit is arranged in the center console of the vehicle, and is activated when the vehicle is about to stop.

优选的，所述电子锁控制器通过中控电子锁控制左右两侧车门的开启与关闭。Preferably, the electronic lock controller controls the opening and closing of the left and right doors through the central electronic lock.

本发明的优点是：The advantages of the present invention are:

1．本发明所提的主动式车辆后方辅助预警系统，采取主动式预警方式，是根据中央处理器电脑，对摄像头采集信息进行判定后主动进行防护行动，同时中央处理单元主动对车辆行为进行干涉，并通过声音报警系统对车内人员进行警示，避免乘客在不理解报警信号“嘀嘀”“嘟嘟”表达的意思时做出无意识行为导致预警失效。1. The active vehicle rear auxiliary early warning system proposed in the present invention adopts an active early warning method, which is based on the central processing unit computer, after judging the information collected by the camera, taking active protective actions, and at the same time, the central processing unit actively interferes with the vehicle behavior, and The sound alarm system is used to warn the occupants in the car, so as to prevent passengers from unconsciously acting when they do not understand the meaning of the alarm signal "beep" and "beep", which will lead to the failure of the early warning.

2．本发明的声音报警系统，采用CAN通信连接汽车音响，不改变电子构架增加成本，使报警声音柔和，不刺耳。2. The sound alarm system of the present invention adopts CAN communication to connect the car stereo, does not change the electronic structure and increases the cost, and makes the alarm sound soft and not ear-piercing.

附图说明Description of drawings

下面结合附图及实施例对本发明作进一步描述：The present invention will be further described below in conjunction with accompanying drawing and embodiment:

图1为本发明所述的主动式车辆后方辅助预警系统的原理图。Fig. 1 is a schematic diagram of the active vehicle rear auxiliary early warning system according to the present invention.

具体实施方式Detailed ways

如图1所示，本发明所揭示的主动式车辆后方辅助预警系统，包括中央处理器单元及分别与其连接的车载摄像头单元、雷达传感器、声音报警系统和电子锁控制器，其中：As shown in Figure 1, the active vehicle rear auxiliary early warning system disclosed by the present invention includes a central processing unit and a vehicle-mounted camera unit, a radar sensor, a sound alarm system and an electronic lock controller respectively connected thereto, wherein:

所述的车载摄像头单元包括两个安装于车尾用于感知停车后车后方路况的摄像头，汽车停止后摄像头检测后方来车情况，并将拍摄的视频或图像发送到中央处理器单元；所述车载摄像头单元的两个摄像头分别安装于车尾的左右两端，拍摄车后方左右45°角范围内的路况。所述雷达传感器包括两个安装于车尾用于感知后方异常物体距离的超声波探测器，通过超声波传感器对异常物体距离车身的距离以及异物行进速度进行计算，并将结果发送给中央处理器单元。中央处理器通过图像及雷达传感器对后方异物行动路线进行计算，判定此时开门是否会出现危及后方通过车辆的情况，则主动对声音报警系统和电子锁控制器下达指令。The vehicle-mounted camera unit includes two cameras installed at the rear of the car for sensing the road conditions behind the car after parking. After the car stops, the camera detects the situation of the car coming from behind, and the video or image taken is sent to the central processing unit; The two cameras of the vehicle-mounted camera unit are installed at the left and right ends of the rear of the car respectively, and take pictures of the road conditions within the left and right angles of 45° behind the car. The radar sensor includes two ultrasonic detectors installed at the rear of the vehicle to sense the distance of abnormal objects in the rear. The ultrasonic sensors calculate the distance from the abnormal object to the vehicle body and the speed of the foreign object, and send the results to the central processing unit. The central processing unit calculates the action route of foreign objects in the rear through the image and radar sensors, and determines whether opening the door at this time will endanger the passing vehicles behind, and then actively issues instructions to the sound alarm system and electronic lock controller.

所述中央处理器单元，根据摄像头发送的视频图像信息以及超声波探测器发送的探测信息对外界危险因素的具体位置进行识别，并发送指令给声音报警系统和电子锁控制器；中央处理器单元安置于车辆的中控台内，在车辆趋近于停止时启动，此时车载摄像头传送后方图像作为参照，随后车载摄像头连续拍摄后方图像，通过前后2张图像对比描绘出异常物体轮廓，从而对轮廓分析判断来确定后方异常为人或电动助力车。The central processor unit identifies the specific location of the external risk factors according to the video image information sent by the camera and the detection information sent by the ultrasonic detector, and sends instructions to the sound alarm system and the electronic lock controller; In the center console of the vehicle, it starts when the vehicle is approaching to stop. At this time, the vehicle camera transmits the rear image as a reference, and then the vehicle camera continuously captures the rear image, and draws the outline of the abnormal object through the comparison of the two images before and after, so that the outline Analyze and judge to determine that the abnormality behind is a person or an electric moped.

所述声音报警系统和电子锁控制器安装于中控台内，在其接收到中央处理单元发出的报警指令后在短时间（1-2秒）对报警方向车门进行锁闭，避免造成开门碰撞，同时声音报警器通过扬声器发出警示，提示后方物体。所述声音报警系统，采用车载音响作为声音报警器，通过CAN通信连接于中央处理器单元，中央处理器单元对图像对比分析得出结果及雷达传感器得到的距离，将结果以信号的方式传导到声音报警器，对车内人员进行语音报警，提示后方为何种异物，方向，以及距离和速度。The sound alarm system and the electronic lock controller are installed in the center console, and after receiving the alarm command issued by the central processing unit, the door in the alarm direction is locked in a short time (1-2 seconds) to avoid door opening collision , At the same time, the sound alarm sends out a warning through the loudspeaker, prompting the rear object. The sound alarm system adopts the car audio as the sound alarm, and is connected to the central processing unit through CAN communication. The central processing unit compares and analyzes the images to obtain the results and the distance obtained by the radar sensor, and transmits the results to the The sound alarm can give a voice alarm to the people in the car, prompting what kind of foreign object, direction, distance and speed are behind.

所述电子锁控制器通过中控电子锁控制左右两侧车门的开启与关闭，中央处理器在预警时对行车电脑ECU发出信号，对门锁进行主导管控，当单侧方向报警信号发出后，报警方向的车锁控制器发出电流，通过电磁吸力拉下车门锁扣杠杆，锁住单侧车门，此时另一边车门由行车电脑ECU控制，可正常开闭。当报警解除后，中央处理器单元对车锁控制器发送报警解除信号，车门锁扣杠杆回到原位，同时恢复ECU控制，车门可正常开闭。The electronic lock controller controls the opening and closing of the doors on the left and right sides through the central control electronic lock. The central processing unit sends a signal to the driving computer ECU during the early warning to control the door lock. When the unilateral direction alarm signal is sent, the alarm The car lock controller in the direction sends out current, pulls down the door lock lever through electromagnetic suction, and locks the door on one side. At this time, the door on the other side is controlled by the driving computer ECU and can be opened and closed normally. After the alarm is released, the central processing unit sends an alarm release signal to the car lock controller, and the door lock lever returns to its original position, and the ECU control is restored at the same time, and the car door can be opened and closed normally.

在在中控台上外接一个电源开关，控制车锁控制器功能，开启时在预警时对车锁进行锁止工作，关闭则不影响车门正常开启关闭。An external power switch is connected to the center console to control the function of the car lock controller. When it is turned on, it will lock the car lock during an early warning, and when it is turned off, it will not affect the normal opening and closing of the car door.

中央处理器2主要包括视频处理芯片，主要用于处理摄像头所采集到的视频数据，该芯片采用TI公司的TMS320DM6437数字图像处理器。The central processing unit 2 mainly includes a video processing chip, which is mainly used for processing video data collected by the camera, and the chip adopts a TMS320DM6437 digital image processor of TI Company.

上述实施例只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人能够了解本发明的内容并据以实施，并不能以此限制本发明的保护范围。凡根据本发明主要技术方案的精神实质所做的修饰，都应涵盖在本发明的保护范围之内。The above-mentioned embodiments are only to illustrate the technical conception and characteristics of the present invention, and its purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and not to limit the protection scope of the present invention. All modifications made according to the spirit of the main technical solutions of the present invention shall fall within the protection scope of the present invention.